US9897462B2 - Flap angle measurement system and method - Google Patents

Flap angle measurement system and method Download PDF

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Publication number
US9897462B2
US9897462B2 US15/028,574 US201315028574A US9897462B2 US 9897462 B2 US9897462 B2 US 9897462B2 US 201315028574 A US201315028574 A US 201315028574A US 9897462 B2 US9897462 B2 US 9897462B2
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United States
Prior art keywords
sensor
flapping
signal
electrical signal
rotor
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US15/028,574
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US20160282140A1 (en
Inventor
Magnus Bergelin
Kristian Erlandsson
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Ums Skeldar Sweden AB
Saab AB
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Ums Skeldar Sweden AB
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Assigned to UMS SKELDAR SWEDEN AB reassignment UMS SKELDAR SWEDEN AB ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: SAAB AB
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/008—Rotors tracking or balancing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/32—Rotors
    • B64C27/37—Rotors having articulated joints
    • B64C27/39—Rotors having articulated joints with individually articulated blades, i.e. with flapping or drag hinges
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
    • G07C5/0808—Diagnosing performance data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • B64D2045/0085—Devices for aircraft health monitoring, e.g. monitoring flutter or vibration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/17—Helicopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/40—Ornithopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/70—Constructional aspects of the UAV body
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U40/00—On-board mechanical arrangements for adjusting control surfaces or rotors; On-board mechanical arrangements for in-flight adjustment of the base configuration
    • B64U40/10—On-board mechanical arrangements for adjusting control surfaces or rotors; On-board mechanical arrangements for in-flight adjustment of the base configuration for adjusting control surfaces or rotors

Definitions

  • the invention relates in general to a system and a method for monitoring movements of the rotor blades attached by flapping hinges to a rotor head or hub of a helicopter, and where the flapping hinges permit vertical angular displacement of the blades relative to the rotor head/hub.
  • flapping a phenomenon is common that makes the rotor blades move up and down in their vertical direction, i.e. in the vertical direction in relation to the helicopter. This movement is called “flapping” and is an important factor in the helicopter's behavior in the air during flight. Seizing or malfunctioning flapping hinges can affect the helicopter's function and dynamics in a negative way, which may lead, in the worst case, to a sudden failure or breakdown.
  • the present invention is based on the design of a device or a system including linear position transducers (LDT) by which it is possible to monitor and calculate when and how much the, for instance two, rotor blades are “flapping” upwards.
  • LDT linear position transducers
  • a rotor blade is “flapping” with about the same frequency as the rotor speed, allowing the signal to come out from the system as a sine curve.
  • the flapping frequency depends on the rotor configuration and some parameters for example the flapping hinge offset from the rotor center of rotation
  • U.S. Pat. No. 2,620,888 illustrates for example a system that indicates and corrects the unbalance in the lifting force of the rotors of a helicopter.
  • the document describes a mechanism that detects differences in the flapping between the rotors, and then compensates the flapping behavior by means of a hydraulic system. This mechanism does not for instance include any electronic or linear sensors.
  • U.S. Pat. No. 2,936,836 illustrates a rotor blade tracking mechanism for lifting rotors of a helicopter and the purpose of the invention is to indicate and correct for lifting differences between the rotors in order to minimize undesirable vibrations.
  • the document describes a system that detects unbalance in the flapping behavior between the rotors.
  • WO20120953325 describes a function-monitored guidance system, a high-lift system, with a monitoring device providing operating state determination function for determining overshoots of stored threshold values.
  • the invention illustrates surveillance of components in order to discover wear, primarily at interceptor aircraft in which sensors measure the mechanical properties such as load states of a component like a flapper point or a bearing and compare these values with desired predetermined values.
  • the sensors measures for example vibrations, acceleration or tension.
  • One object of the present invention is to solve the problems indicated above and to create a flap angle measurement system and a method that is effective, simple in its design and reliable to use and that measures the angular change of the flapping hinge for each rotor blade in the rotor head/hub of a helicopter. This and additional objects and advantages are achieved according to the invention with a system having the features described herein.
  • a further object is to provide a system including a new and efficient mechanical/electrical device, which effectively is able to monitor the angular change of the flapping hinge and generate an electrical signal related to the angular change.
  • a further object of the invention is that the system should be simple in its design and consist of as few parts as possible and thus be cost effective to manufacture and install.
  • a further object of the invention is that the system should be of low weight and compact in size.
  • a further object of the present invention is that the system should be easy to adjust/calibrate.
  • the invention relates, as indicated above, to a system and method for monitoring vertical movements of the rotor blades attached by flapping hinges to a central head/hub of a helicopter.
  • the invention is achieved by designing the system so that at least one sensor is arranged to continuously measure the vertical angular movement of a rotor blade and/or the flapping hinge.
  • the simple design of the invention results in that at least one sensor is arranged to continuously measure the vertical angular movement of a rotor blade and/or the flapping hinge.
  • the at least one sensor one sensor per rotor blade, is arranged to generate an electrical signal that is a sine wave as long as all parts are functioning as expected.
  • a control/evaluation unit is arranged to receive the electrical signal from the sensor and evaluate the signal for detecting any abnormalities.
  • the control/evaluation unit may be arranged to compare the actual measured electrical signal to a stored signal or value in order to detect if the actual measured signal depart from the predetermined signal or from predetermined acceptable values, i.e. there is detected if the actual measured signal is distorted in any way, indicating that the flapping hinge is malfunctioning and/or needs maintenance.
  • This monitoring system/method can be used as a simple and effective tool during flight in an operational helicopter for constantly/continuously monitoring e.g. the wear of bearings and/or other components in the rotor head/hub.
  • the system/device can also preferably be used as an effective tool for evaluation and checking of the condition of new rotor head/hub designs.
  • FIG. 1 a,b illustrates in principle the flapping movement that may occur of the rotor blades on a helicopter during flight.
  • FIG. 2 illustrates from a side view a rotor head/hub mounted on a rotor shaft on a helicopter.
  • FIG. 3 illustrates more in detail, and in a perspective view, a sensor arrangement for monitoring the angle of the rotor blades, in relation to the rotor head/hub and rotor shaft.
  • FIG. 1 a,b illustrates in principle the flapping movement that may occur for a rotor blade 1 on a helicopter (not shown) during flight.
  • the rotor blade 1 is moving/flapping around a flapping hinge 2 , the movement is indicated by an arrow 3 .
  • the flapping comes from cyclic pitch command i.e. if the pilot wants to put the helicopter in forward flight for example.
  • the flapping also comes from winds/gust.
  • the allowance of blade flapping will reduce bending forces in the rotor blades and is a common design in helicopters.
  • FIG. 2 illustrates from the side a rotor head/hub 4 located on the top of a helicopter rotor shaft 5 .
  • the head/hub 4 has a main body and connecting members projecting from the main body and for e.g. the connection of respective blade (not shown).
  • the main body and the connecting members being defined by separate components connectable to one another by releasable fastening means like bolts for example.
  • the helicopter may typically be of e.g. the type of VTOL (“Vertical Take Off and Landing”) and/or UAV (“Unmanned Aerial Vehicle”).
  • the rotor blades are normally mounted to the rotor shaft or head/hub via a rotor blade linkage 6 .
  • the flapping of the rotor blades is made possible by the means of flapping hinges 7 and the rotor blades are thereby able to partly rotate in their vertical directions, (as indicated by the arrow 8 ).
  • At least one sensor 9 e.g. a linear position transducer or LDT
  • the LDT is fixed to the rotor head 4 by screws/bolts and a console 10 .
  • the sensor arm or axle 11 of the LDT is adjustable by an adjustment mechanism 12 , formed like a washer which is possible to adjust by screwing.
  • the sensor axle 11 is in contact with a tilting washer 13 that rotates with the flapping hinge 7 together with the rotor blade when the rotor blade turns upwards or downwards.
  • both sensors 9 may by calibrated to each other in order to give exactly the same response, the same electrical signals or the same signal values, at a given flapping angle ⁇ of the rotor blades.
  • FIG. 3 illustrates more in detail the sensors 9 and their installation on the rotor head 4 .
  • the sensors 9 are mounted by means of screws and consoles 10 .
  • Each sensor 9 is arranged with a central axle 11 that moves longitudinally within the sensor 9 .
  • the axle 11 is in contact with the tilting washer 13 via a heel 15 and moves thereby in accordance with the flapping hinge 7 and the tilting washer 13 .
  • the sensor 9 may be mechanically adjusted in its length position by an adjustment mechanism 12 located in the console 10 .
  • the mechanical adjustment is performed by manually rotating the adjustment mechanism 12 which may be provided with a thread and a washer formed element. After the adjustment the sensor 9 is locked in its new position by e.g. a screw 16 .
  • the control/evaluation unit 14 is arranged to receive the electrical signal and evaluate the signal in order to detect any abnormalities in the normally sine wave formed signal by comparing the actual measured electrical signal to a stored signal or stored value in order to detect if the actual measured signal depart from the predetermined and acceptable values, i.e. if the actual signal is distorted in any way, indicating that the flapping hinge 7 or the rotor blade is malfunctioning and/or needs maintenance.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Toys (AREA)
US15/028,574 2013-10-10 2013-10-10 Flap angle measurement system and method Active US9897462B2 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/SE2013/051192 WO2015053671A1 (en) 2013-10-10 2013-10-10 Flap angle measurement system and method

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US20160282140A1 US20160282140A1 (en) 2016-09-29
US9897462B2 true US9897462B2 (en) 2018-02-20

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US (1) US9897462B2 (es)
EP (1) EP3055207B1 (es)
ES (1) ES2703140T3 (es)
WO (1) WO2015053671A1 (es)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107140202B (zh) * 2017-05-12 2023-06-20 郑可为 一种离心式挥舞铰旋翼头
CN112407323B (zh) * 2020-11-03 2022-07-01 中国直升机设计研究所 一种铰接式旋翼桨根运动参数测量装置及方法
CN113138068B (zh) * 2021-03-31 2023-09-05 中国飞机强度研究所 一种襟翼运动机构疲劳试验装置及其方法

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US3954229A (en) * 1975-01-02 1976-05-04 Textron, Inc. Automatic one-per-rev control system
US4246967A (en) * 1979-07-26 1981-01-27 The Dow Chemical Company Cementing head apparatus and method of operation
US4519743A (en) * 1980-03-21 1985-05-28 Massachusetts Institute Of Technology Helicopter individual blade control system
US4667158A (en) 1985-04-01 1987-05-19 Redlich Robert W Linear position transducer and signal processor
EP0339983A2 (en) 1988-04-29 1989-11-02 LUCAS INDUSTRIES public limited company Movement transducer
US6415206B1 (en) * 2000-02-24 2002-07-02 Simmonds Precision Products, Inc. Method for determining a minimal set of rotor blade adjustments
US20040022619A1 (en) * 2000-06-16 2004-02-05 Mario Spatafora Method and device for picking up stacks of blanks
US20120257847A1 (en) 2011-04-07 2012-10-11 Allred Charles J Rotary wing aircraft instrumented motion control bearings
US20130243597A1 (en) * 2012-03-19 2013-09-19 Eurocopter Device for monitoring the flapping and/or lag behavior of a blade of a rotorcraft rotor
US20130327896A1 (en) * 2011-10-10 2013-12-12 Eurocopter Rotorcraft yaw piloting system making use of a member of the human-operated type and of a flight control generator fo the objective type

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US2620888A (en) 1947-03-10 1952-12-09 Harold T Avery Blade tracking mechanism for lifting rotors
US2936836A (en) 1956-06-01 1960-05-17 Kaman Aircraft Corp Mechanism for indicating and correcting lift differences in helicopter rotors
DE19804717C2 (de) * 1997-01-17 2002-08-08 Eurocopter Deutschland Mehrblattrotor
JP2878229B2 (ja) * 1997-03-21 1999-04-05 株式会社コミュータヘリコプタ先進技術研究所 回転翼機用接地センサ
JP3638257B2 (ja) * 2001-04-13 2005-04-13 川崎重工業株式会社 回転翼航空機の揺動制御装置および方法
JP3728242B2 (ja) * 2001-12-21 2005-12-21 防衛庁技術研究本部長 回転翼航空機のロータの揺動制御装置
FR2948631B1 (fr) * 2009-07-28 2012-01-27 Eurocopter France Procede pour reduire voire supprimer les vibrations d'un rotor de sustentation et de propulsion d'un giravion, ainsi qu'un ensemble aerodynamique et un rotor mettant en oeuvre ledit procede
DE102011008561A1 (de) 2011-01-14 2012-07-19 Airbus Operations Gmbh Funktionsüberwachtes Führungssystem zur Verstellung zumindest einer Systemkomponente sowie Verfahren zur Funktionsüberwachung eines solchen Führungssystems
EP2732351B1 (en) * 2011-07-12 2015-09-02 Bell Helicopter Textron Inc. Pilot cyclic control margin display
US8496199B2 (en) * 2011-07-12 2013-07-30 Textron Innovations Inc. System and method for limiting cyclic control inputs

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3954229A (en) * 1975-01-02 1976-05-04 Textron, Inc. Automatic one-per-rev control system
US4246967A (en) * 1979-07-26 1981-01-27 The Dow Chemical Company Cementing head apparatus and method of operation
US4519743A (en) * 1980-03-21 1985-05-28 Massachusetts Institute Of Technology Helicopter individual blade control system
US4667158A (en) 1985-04-01 1987-05-19 Redlich Robert W Linear position transducer and signal processor
EP0339983A2 (en) 1988-04-29 1989-11-02 LUCAS INDUSTRIES public limited company Movement transducer
US6415206B1 (en) * 2000-02-24 2002-07-02 Simmonds Precision Products, Inc. Method for determining a minimal set of rotor blade adjustments
US20040022619A1 (en) * 2000-06-16 2004-02-05 Mario Spatafora Method and device for picking up stacks of blanks
US20120257847A1 (en) 2011-04-07 2012-10-11 Allred Charles J Rotary wing aircraft instrumented motion control bearings
US20130327896A1 (en) * 2011-10-10 2013-12-12 Eurocopter Rotorcraft yaw piloting system making use of a member of the human-operated type and of a flight control generator fo the objective type
US20130243597A1 (en) * 2012-03-19 2013-09-19 Eurocopter Device for monitoring the flapping and/or lag behavior of a blade of a rotorcraft rotor

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Title
Supplementary European Search Report dated May 10, 2017 in Patent Application No. EP 13 89 5430.

Also Published As

Publication number Publication date
ES2703140T3 (es) 2019-03-07
EP3055207B1 (en) 2018-10-03
US20160282140A1 (en) 2016-09-29
EP3055207A1 (en) 2016-08-17
WO2015053671A1 (en) 2015-04-16
EP3055207A4 (en) 2017-06-21

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